Method of generating scan path of autonomous mobile robot and computing device

Abstract

A method is performed by a computing device including one or more processors and a memory that stores one or more programs executed by the one or more processors and includes acquiring a three-dimensional (3D) map of an interior, generating an occupancy height map by stacking spatial value histograms in a height direction while projecting the 3D map of the interior on a two-dimensional (2D) plane, and removing noise caused by a mobile object which moves in the interior from the occupancy height map.

What is claimed is: 
     
         1 . A method of generating a scan path of an autonomous mobile robot, which is performed by a computing device including one or more processors and a memory that stores one or more programs executed by the one or more processors, the method comprising:
 acquiring a three-dimensional (3D) map of an interior;   generating an occupancy height map by stacking spatial value histograms in a height direction while projecting the 3D map of the interior on a two-dimensional (2D) plane; and   removing noise, which is caused by a mobile object moving in the interior from the occupancy height map.   
     
     
         2 . The method of  claim 1 , wherein the generating of the occupancy height map comprises:
 converting the 3D map of the interior into a 2D map by projecting the 3D map on the 2D plane; and   detecting an area including spatial value data at a preset ratio in the 2D map as a valid data area.   
     
     
         3 . The method of  claim 1 , wherein the 3D map of the interior is generated by the autonomous mobile robot scanning the interior while travelling in the interior; and
 the removing of the noise caused by the mobile object comprises:
 acquiring data of a travel path and a scanning path of the autonomous mobile robot in the interior; 
 setting a part of the occupancy height map corresponding to the travel path of the autonomous mobile robot as a travelable area; and 
 removing the noise caused by the mobile object by using the scanning path in the travelable area of the occupancy height map. 
   
     
     
         4 . The method of  claim 3 , wherein a plurality of racks are installed in the interior; and
 the removing of the noise caused by the mobile object comprises:
 detecting edges in the occupancy height map; and 
 removing noise from a part of the scanning path extending to the edges of the racks in the occupancy height map without removing noise from a part of the scanning path crossing the edges of the racks. 
   
     
     
         5 . The method of  claim 1 , further comprising, after the removing of the noise caused by the mobile object, removing remaining noise from the occupancy height map. 
     
     
         6 . The method of  claim 1 , further comprising:
 detecting a grade of the occupancy height map; and   correcting a tilt of the occupancy height map by rotating the occupancy height map by the detected grade.   
     
     
         7 . The method of  claim 1 , further comprising, after the removing of the noise caused by the mobile object, setting a surrounding scan path for each rack in the occupancy height map,
 wherein the racks are installed in the interior.   
     
     
         8 . The method of  claim 7 , wherein the setting of the surrounding scan path comprises:
 detecting each of the racks in the occupancy height map and setting a rack area including each of the detected racks; and   setting the surrounding scan path for each of the racks by expanding the rack area on the basis of a distance between the autonomous mobile robot and each of the racks.   
     
     
         9 . The method of  claim 7 , further comprising, after the setting of the to surrounding scan path, generating a sequential scan path for scanning each of the racks in the occupancy height map. 
     
     
         10 . A computing device comprising:
 one or more processors;   a memory; and   one or more programs,   wherein the one or more programs are stored in the memory and executed by the one or more processors, and   the one or more programs comprise:
 an instruction for acquiring a three-dimensional (3D) map of an interior: 
 an instruction for generating an occupancy height map by stacking spatial value histograms in a height direction while projecting the 3D map of the interior on a two-dimensional (2D) plane; and 
 an instruction for removing noise caused by a mobile object which moves in the interior from the occupancy height map.